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JACIII Vol.8 No.3 pp. 324-331
doi: 10.20965/jaciii.2004.p0324
(2004)

Paper:

Position Control of Direct-Drive Robot Manipulators with PMAC Motors Using Enhanced Fuzzy PD Control

Dong Sun*, Y. X. Su*, and James K. Mills**

*Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong

**Department of Mechanical and Industrial Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada

Received:
May 15, 2003
Accepted:
March 20, 2004
Published:
May 20, 2004
Keywords:
position control, direct-drive manipulator, PMAC, fuzzy PD control
Abstract

A position control approach for direct-drive robot manipulators with permanent magnet AC (PMAC) motors is proposed. The conventional vector control architecture has been simplified by specifying the motor stator phase so that the rotating d-axis current is zero. The position control is designed to be an enhanced fuzzy PD controller, by incorporating two nonlinear tracking differentiators into a conventional fuzzy PD controller. The proposed control methodology is easy to implement, and exhibits better control performance than conventional control methods. Experiments conducted on a single-link manipulator directly driven by a PMAC motor demonstrate the validity of the proposed approach.

Cite this article as:
Dong Sun, Y. X. Su, and James K. Mills, “Position Control of Direct-Drive Robot Manipulators with PMAC Motors Using Enhanced Fuzzy PD Control,” J. Adv. Comput. Intell. Intell. Inform., Vol.8, No.3, pp. 324-331, 2004.
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Last updated on May. 12, 2021